feat: motion graphic on gomography matrix

autopilot.py

@@ -272,11 +272,6 @@ class AutoPilot(Pilot):
             height, width = self.prev_image.shape[:2]
             self.image_center = (width // 2, height // 2)
             
-            # Обновляем визуализацию детекции
-            if self.vis_manager is not None:
-                kp, _ = self.orb_detector.detectAndCompute(self.prev_image, None)
-                self.vis_manager.update_detection(self.prev_image, kp)
-            
             return PilotCommand()
         
         # Конвертируем текущее изображение
@@ -314,8 +309,6 @@ class AutoPilot(Pilot):
                 
                 # Обновляем визуализацию
                 if self.vis_manager:
-                    # Обновляем детекцию ключевых точек
-                    self.vis_manager.update_detection(current_image, kp2)
 
                     # Обновляем сопоставление точек
                     self.vis_manager.update_matches(
@@ -323,6 +316,16 @@ class AutoPilot(Pilot):
                         current_image, 
                         kp1, kp2, matches,
                         transformation_info)
+                    
+                    self.vis_manager.update_motion_vectors(
+                        current_image, 
+                        kp1, kp2, matches)
+                    
+                    mask = transformation_info['mask']
+                    self.vis_manager.update_motion_gomography(
+                        current_image, 
+                        kp1, kp2,
+                        np.array(matches)[mask.ravel().astype(bool)])
 
         # Пытаемся найти ориентир на картинке:
         landmark_image = cv2.imread(Path('chunks') / f'chunk_{self.target_idx}.png', cv2.IMREAD_COLOR_RGB)
@@ -389,45 +392,3 @@ class AutoPilot(Pilot):
         self.y = y
         self.angle = angle
         self.frame_count = 0
-
-
-class RandomPilot(Pilot):
-    counter: int
-    
-    def __init__(self, velocity: float = 1):
-        self.counter = 0
-
-    def act(self) -> tuple[float, float] | None:
-        self.counter += 1
-        if self.counter > 300:
-            return None
-        
-        return 1 / (self.counter + 20), 10.0
-
-# def _test():
-#     randomPilot = RandomPilot()
-#     point = [0, 0]
-#     iter_count = 100
-#     points = [point.copy()]
-
-#     for i in range(iter_count):
-#         dx, dy = randomPilot.step()
-#         prev_point = point.copy()
-#         point[0] += dx
-#         point[1] += dy
-#         points.append(point.copy())
-
-#     coords = list(zip(*points))
-#     padding = 5
-#     plt.axis([
-#         min(coords[0]) - padding, max(coords[0]) + padding,
-#         min(coords[1]) - padding, max(coords[1]) + padding])
-
-#     for i in range(iter_count):
-#         plt.plot(coords[0][i:i+2], coords[1][i:i+2], color='#5e5')
-#         plt.pause(0.05)
-
-#     sleep(1)
-
-# if __name__ == '__main__':
-#     _test()